C、C++:

General Extended Joint Configuration expandControl

This interface is used for joint speed loop control, position loop control, and state acquisition of expansion joints.

State acquisition of expansion jointsrm_get_expand_state()

• Method prototype:

int rm_get_expand_state(rm_robot_handle * handle,rm_expand_state_t * state)

Jump to rm_robot_handle and rm_expand_state_t for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
state	Input	State structure of expansion joints.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// Query the state of expansion joints
rm_expand_state_t state;
int result = rm_get_expand_state(robot_handle, &state);

Speed loop control of expansion jointsrm_set_expand_speed()

• Method prototype:

int rm_set_expand_speed(rm_robot_handle * handle,int speed)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Speed percentage, -100 to 100: 1. speed<0: Expansion joint moves down; 2. speed>0: Expansion joint moves up; 3. speed=0: Expansion joint stops moving.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

int speed = 50;
ret = rm_set_expand_speed(robot_handle,speed);

Position loop control of expansion jointsrm_set_expand_pos()

• Method prototype:

int rm_set_expand_pos(rm_robot_handle * handle,int speed,int pos,int block)

Jump to rm_robot_handle for details of the structure.

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
speed	Input	Speed percentage, 1 to 100.
pos	Input	Expansion joint angle, in °.
block	Input	Blocking settings: multi-thread mode: 0: non-blocking mode, immediately return after sending commands; 1: blocking mode, return after the robotic arm reaches the target position or the planning fails. Single-thread mode: 0: non-blocking mode; other values: blocking mode, and timeout period setting according to the movement time, in s.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

// By default, the current thread mode is multi-threading, with the system operating at 20% speed and blocking until it reaches the 200 mm position
int ret;
int target = 200;
int speed = 20;
int block = 1;
ret = rm_set_expand_pos(robot_handle,speed,target,block);